NDLI: Searching a radiological source by a mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Hsien-I Lin Tzeng, H.J.
Copyright Year	2015
Description	Author affiliation: Grad. Inst. of Autom. Technol., Nat. Taipei Univ. of Technol., Taipei, Taiwan (Hsien-I Lin; Tzeng, H.J.)
Abstract	With the continuous expansion of international terrorist organizations, terrorists have been looking for ways to cause massive destruction, in which one of dangerous weapons is a radiological source. The explosion of radiological sources makes radioactive particles scattered over a vast area, causing radiation contamination. To avoid radiation disasters, there should be autonomous mobile robots that are equipped with radiation detectors to search any radiological sources in public places. Thus, the motivation of this paper is to find out any radiological sources in an unknown environment by an autonomous mobile robot. To estimate the accurate location of a radiological source, an artificial potential field is adopted where attractive forces are modeled by a particle filter using the model of radiation sensing model. To build up an accurate sensing model, we consider the physics of radiation and the angle of incidence of gamma ray to the radiological sensor. The simulation results show that the mobile robot is able to find the radiological source in an unknown environment.
Starting Page	1
Ending Page	5
File Size	1046119
Page Count	5
File Format	PDF
ISSN	23775831
e-ISBN	9781467365703
DOI	10.1109/iFUZZY.2015.7391884
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Radiation detectors Simulation Radiological sources Radiation sensing model Robot sensing systems Attenuation Mobile robots Artificial potential field Particle filter
Content Type	Text
Resource Type	Article

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